可穿戴外骨的节能执行:一个虚拟原型
Asim Ghaffar1, Abdur Rehman2, Muhammad Tanveer Riaz1
1Department of Mechanical, Mechatronics and Manufacturing Engineering, University of Engineering and Technology Lahore, Faisalabad Campus, Faisalabad, Pakistan, uet.edu.pk.
Applied bionics and biomechanics
|November 24, 2025
概括
这项研究优化了可穿戴式外骨辅助 actuation 系统,以减少功耗. 双变平行弹性执行 (VPEA) 系统被证明是最节能的,验证了未来外骨架设计的数学模型.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 生物力学 生物力学
- 机械工程 机械工程
背景情况:
- 辅助可穿戴外骨需要高效的执行系统来最大限度地降低功耗.
- 优化执行对于延长外骨运行时间和用户舒适性至关重要.
研究的目的:
- 调查和比较各种辅助可穿戴外骨执行系统的功耗.
- 通过虚拟实验框架对数学模型进行验证,以分析执行系统的效率.
主要方法:
- 使用虚拟实验框架来模拟和分析不同的驱动系统变体.
- 评估了刚性,连续弹性和并行弹性执行系统 (单个和双重配置).
- 结果与开发的数学模型进行了比较.
主要成果:
- 在虚拟和数学模型之间观察到强烈的相关性,表明高精度.
- 将声驱动器与皮带和滑轮机制相结合,减少了能源消耗.
- 具有特定关节配置的双变平行弹性执行 (VPEA) 系统显示了最低的功耗.
结论:
- 数学模型准确地预测了外骨执行系统的功耗.
- 双VPEA配置为外骨架设计提供了显著的能源效率优势.
- 研究结果为优化执行系统提供了指导方针,以提高外骨性能和效率.
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